Yes, if you've never done the dungeon's story quest on that toon, the quest-giver should appear not far inside the door, but with a character with Undaunted that high, it's possible you may have done some of those quests already. The colour of the map icon should indicate whether you've done the story quest or not. Also, if you're on PC, you can download my Journal Quest Log add-on which lists all completed quests by zone (you'll need to search for the dungeon quests in the relevant zone lists).

Beyond the story quests of course, the pledges are repeatable from the Undaunted Enclave.